CONTROL DEVICE, CONTROL METHOD, AND ROBOT APPARATUS

摘要

PROBLEM TO BE SOLVED: To prevent an object from being destroyed, even when the object comes in contact with other bodies.SOLUTION: A control device includes a visual control unit 110 for generating a first control signal to control a manipulator of a robot based on a captured image of an object held by the robot, and a compliant motion control unit 150 for controlling the manipulator of the robot based on the first control signal generated by the visual control unit 110 and load information indicating the force applied to the object.